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3D Airmode enhancements // Iterm Shrinking replaced to limiting

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borisbstyle 2016-01-25 12:05:30 +01:00
parent b86f304dec
commit 55cf3913a0
3 changed files with 15 additions and 21 deletions
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4
src/main/flight/mixer.c
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@ -452,7 +452,7 @@ void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfigura
}
// in 3D mode, mixer gain has to be halved
if (feature(FEATURE_3D) && !(IS_RC_MODE_ACTIVE(BOXAIRMODE))) {
if (feature(FEATURE_3D)) {
if (motorCount > 1) {
for (i = 0; i < motorCount; i++) {
currentMixer[i].pitch *= 0.5f;
@ -782,8 +782,6 @@ void mixTable(void)
axisPID[ROLL] * currentMixer[i].roll +
-mixerConfig->yaw_motor_direction * axisPID[YAW] * currentMixer[i].yaw;
if (feature(FEATURE_3D)) rollPitchYawMix[i] /= 2; // 3D feature uses half of the resolution
if (rollPitchYawMix[i] > rollPitchYawMixMax) rollPitchYawMixMax = rollPitchYawMix[i];
if (rollPitchYawMix[i] < rollPitchYawMixMin) rollPitchYawMixMin = rollPitchYawMix[i];
}